TWI603825B - A rotary drive mechanism of a robot - Google Patents

A rotary drive mechanism of a robot Download PDF

Info

Publication number
TWI603825B
TWI603825B TW104135251A TW104135251A TWI603825B TW I603825 B TWI603825 B TW I603825B TW 104135251 A TW104135251 A TW 104135251A TW 104135251 A TW104135251 A TW 104135251A TW I603825 B TWI603825 B TW I603825B
Authority
TW
Taiwan
Prior art keywords
shaft
support shaft
link
rotating
predetermined
Prior art date
Application number
TW104135251A
Other languages
Chinese (zh)
Other versions
TW201622923A (en
Inventor
永塚正樹
Original Assignee
Thk股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to JP2014219175 priority Critical
Priority to JP2015208410A priority patent/JP6105024B2/en
Application filed by Thk股份有限公司 filed Critical Thk股份有限公司
Publication of TW201622923A publication Critical patent/TW201622923A/en
Application granted granted Critical
Publication of TWI603825B publication Critical patent/TWI603825B/en

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00Arms

Description

機器人的旋轉驅動機構 Rotary drive mechanism of robot 發明領域 Field of invention
本發明是有關於一種旋轉驅動機構,該旋轉驅動機構是用以驅動機器人的一部分即複數個構件,使構件彼此作相對旋轉。 The present invention relates to a rotary drive mechanism for driving a part of a robot, that is, a plurality of members, for relatively rotating the members.
發明背景 Background of the invention
近年來,不只是產業用機器人,連作為民生用在內而擔負各種任務之機器人的研發盛行。在機器人當中,可做直立行走之人型機器人(仿人型機器人:humanoid robot)也被期待能作為替代人的行動者。在如此之人型機器人,為了模仿人的動作,而設有很多關節部,又,在該關節部中具有複數自由度,以謀求多樣化的動作。 In recent years, it is not only industrial robots, but also the development of robots that are responsible for various tasks as a livelihood. Among the robots, a humanoid robot (humanoid robot) that can be erected is also expected to act as an alternative human actor. In such a humanoid robot, in order to imitate the movement of a person, a plurality of joint portions are provided, and a plurality of degrees of freedom are provided in the joint portion to achieve diverse operations.
例如,在專利文獻1之圖6揭示有機器人的腳部的關節構造。具體來說,位於腳部上側之大腿部與位於腳部下側之下腿部是連接在盤狀構件而形成旋轉自如之狀態。接著,各構件被配置成:於腳部成為伸展地最長之狀態時,使盤狀構件及、大腿部側之擋止件與下腿部側之擋止件抵接者。藉如此構成,成為在機器人伸直腳部直立時,藉機 器人本身重量,使各擋止件與盤狀構件抵接之狀態,因此可將機器人之該直立狀態維持較為穩定。又,為了該直立時之擋止件與盤狀構件之抵接狀態,也採用了在大腿部側與下腿部側分別設置彈簧,以付與彈性力之構成。 For example, FIG. 6 of Patent Document 1 discloses a joint structure of a foot of a robot. Specifically, the thigh portion located on the upper side of the leg portion and the leg portion located below the lower side of the leg portion are connected to the disk-shaped member to be rotatable. Next, each member is disposed such that the disk member and the stopper on the thigh side are in contact with the stopper on the lower leg side when the leg portion is in the longest extended state. By doing so, it is an opportunity to take the opportunity when the robot straightens the foot upright. The weight of the person itself causes the respective stoppers to abut against the disk-shaped member, so that the upright state of the robot can be maintained relatively stable. Further, in order to contact the disc member in the upright state, a spring is provided on each of the thigh portion side and the lower leg portion to provide an elastic force.
先行技術文獻 Advanced technical literature 專利文獻 Patent literature
專利文獻1:國際公開公報第2013/084789號 Patent Document 1: International Publication No. 2013/084789
發明概要 Summary of invention
如同機器人一部分即腳部或臂部,在將複數構件各自旋轉自如地連接在關節部之構成(以下稱之為「機器人構成部」)中,為了盡可能地擴展機器人的可動範圍,提高該萬用性,所以盡可能地擴大在各關節部之構件彼此的旋轉範圍,也是較好的。惟,一般來說,也是一種構造體,該構造體為在形成機器人構成部之各構件之內部,除了強化剛性用之骨骼構造,還容納很多用以驅動各關節部之致動器或電纜線、信號纜線等之電性零組件,各零組件具有預定的大小。 In a configuration in which a plurality of members, that is, a foot or an arm, are rotatably connected to a joint portion (hereinafter referred to as a "robot configuration portion"), in order to expand the movable range of the robot as much as possible, the 10,000 is improved. It is also preferable to expand the range of rotation of the members of the joint portions as much as possible. However, in general, it is also a structure in which the inside of each member forming the robot constituent portion is provided with a plurality of actuators or cables for driving the joint portions in addition to the skeleton structure for reinforcing rigidity. An electrical component such as a signal cable, each component having a predetermined size.
為此,在機器人構成部之各構件被驅動相互旋轉時,要使以各自的大小所畫定之外側表面彼此接觸,且不相干擾之範圍內,決定各構件的可動範圍時,使得要大幅地獲取該可動範圍的情況是有困難的。另一方面,為了迴避機器人構成部之各構件的干擾,必須要挖掘干擾之處的 各構件之外側表面等,加以預定的變形,但此時,不得不變更各構件之內部的骨骼構造或電性零組件的配置等,使機器人的設計自由度大大降低。 Therefore, when the members of the robot component are driven to rotate with each other, it is necessary to make the movable surfaces of the respective members in a range in which the outer surfaces are drawn in contact with each other and do not interfere with each other. It is difficult to obtain the movable range. On the other hand, in order to avoid the interference of the components of the robot component, it is necessary to excavate the interference. The outer surface of each member is deformed in a predetermined manner. However, in this case, the skeletal structure or the arrangement of the electrical components inside the members has to be changed, and the degree of freedom in designing the robot is greatly reduced.
本發明是有鑑於上述問題點而所創建者,其目的在於提供一種旋轉驅動機構,該旋轉驅動機構是設在於機器人中被驅動而相對旋轉的兩個構件間,無須對兩構件之外側表面的形狀做大幅變更,且能夠盡可能地大幅度地獲取兩構件間之旋轉範圍。 The present invention has been made in view of the above problems, and an object thereof is to provide a rotary drive mechanism which is disposed between two members that are driven to rotate relative to each other in a robot, without the need for the outer surface of the two members The shape is greatly changed, and the range of rotation between the two members can be obtained as much as possible.
在本發明中,為解決上述課題,而將相當於作相對旋轉移動之第1構件與第2構件間之關節部之構成,採用了藉第1連桿部與第2連桿部而將兩構件付與關聯之構成,該第1連桿部是連接第1構件與第2構件而成為其等各自旋轉自如,該第2連桿部是將第1構件側之第1支撐軸與第2構件側之第2支撐軸間之軸間距離為一定者。藉此,可在第1構件與第2構件之間確保旋轉驅動用之空間,且可迴避兩構件之干擾。 In the present invention, in order to solve the above problem, the first link portion and the second link portion are used to configure the joint portion between the first member and the second member that are relatively rotationally movable. In the first link portion, the first link member is connected to the first member and the second member, and the second link portion is the first support shaft on the first member side and the second support member. The distance between the axes between the second support shafts on the member side is constant. Thereby, a space for rotational driving can be secured between the first member and the second member, and interference between the two members can be avoided.
詳細來說,本發明之旋轉驅動機構是一種旋轉驅動機構,用以經由具有直動式輸出軸之直動式致動器,而將機器人一部分即第1構件及第2構件驅動,使該等在預定的旋轉驅動面上作相對旋轉,且包含有:第1連桿部,使前述直動式致動器之輸出軸連接,配置成經由第1旋轉軸而相對於前述第1構件旋轉自如,且配置成經由第2旋轉軸而相對於前述第2構件側旋轉自如,該第1旋轉軸與該第2旋轉軸 間之軸間距離是設定為一預定距離,該預定距離為可驅動該第1構件與該第2構件使其等在前述預定的旋轉驅動面上旋轉;及第2連桿部,連接於設在前述第1構件構之第1支撐軸與設於前述第2構件側之第2支撐軸,使該第1支撐軸與該第2支撐軸間之軸間距離為一定。其次,並且相對於該第1旋轉軸與該第2旋轉軸,而將該第1支撐軸與該第2支撐軸配置成於前述預定的旋轉驅動面上將前述第1支撐軸與前述第2支撐軸連起來的直線,與將前述第1旋轉軸與前述第2旋轉軸連起來的直線交叉。 In detail, the rotary drive mechanism of the present invention is a rotary drive mechanism for driving a part of the robot, that is, the first member and the second member, via a direct-acting actuator having a direct-acting output shaft, so that Rotating relative to the predetermined rotational driving surface, and including a first link portion, connecting the output shaft of the linear actuator, and arranging to rotate relative to the first member via the first rotating shaft And being arranged to be rotatable relative to the second member side via the second rotating shaft, the first rotating shaft and the second rotating shaft The inter-axis distance is set to a predetermined distance that is capable of driving the first member and the second member to rotate on the predetermined rotational driving surface; and the second link portion is connected to the device The first support shaft of the first member structure and the second support shaft provided on the second member side have a constant axial distance between the first support shaft and the second support shaft. Then, the first support shaft and the second support shaft are disposed on the predetermined rotation drive surface with respect to the first rotation axis and the second rotation axis to connect the first support shaft and the second A straight line connecting the support shafts intersects with a straight line connecting the first rotating shaft and the second rotating shaft.
本發明之旋轉驅動機構是用以實現第1構件與第2構件之相對旋轉驅動之機構,包含有第1連桿部及第2連桿部。第1連桿部是將第1構件與第2構件連接之連桿構件,使該等分別經由第1旋轉軸及第2旋轉軸而形成為旋轉自如之狀態。因此,第1構件與第2構件是被驅動而使該等作相對旋轉者,但各構件不是直接連接成可相互旋轉,而是經由第1連桿部而連接各構件使其等可以不同的旋轉軸旋轉。該各構件之旋轉面是相當於上述之預定的旋轉驅動面。為此,在以第1旋轉軸為中心旋轉之第1構件與以第2旋轉軸為中心之第2構件之間,形成有與兩旋轉軸間之軸間距離即預定距離對應之隔離空間,因此藉該隔離空間之存在,使第1構件與第2構件在於預定的旋轉驅動面之旋轉驅動上不容易被干擾。藉此,能實現第1構件與第2構件之相對的旋轉驅動為更寬廣之範圍。 The rotation drive mechanism of the present invention is a mechanism for driving relative rotation of the first member and the second member, and includes a first link portion and a second link portion. The first link portion is a link member that connects the first member and the second member, and is rotatably formed via the first rotating shaft and the second rotating shaft. Therefore, the first member and the second member are driven to rotate relative to each other. However, the members are not directly connected to each other so as to be rotatable with each other, but the members are connected via the first link portion, and the members may be different. The rotary axis rotates. The rotating surface of each of the members corresponds to the predetermined rotational driving surface described above. Therefore, between the first member that rotates around the first rotation axis and the second member that is centered on the second rotation axis, an isolation space corresponding to a predetermined distance between the axes of rotation between the two rotation axes is formed. Therefore, by the existence of the isolation space, the first member and the second member are not easily disturbed by the rotational driving of the predetermined rotational driving surface. Thereby, the relative rotational driving of the first member and the second member can be realized in a wider range.
另一方面,將第1構件與第2構件分別以第1旋轉 軸與第2旋轉軸連接,以於第1構件與第2構件間之相對的旋轉驅動上,兩構件是在構造上成為獨立而不相干之狀態。在此,經由第2連桿部而使兩構件連接。具體來說,如上述,在設於第1構件側之第1支撐軸與設於第2構件側之第2支撐軸之軸間距離成為一定之狀態下,使第2連桿部與兩支撐軸連接。其次,在預定的旋轉驅動面上,在成為將第1支撐軸與第2支撐軸連起來的直線與將第1旋轉軸與第2旋轉軸連起來的直線交叉之狀態下配置該等4個軸,以此能在藉第2連桿部而使第1支撐軸與第2支撐軸間之距離成為一定的狀態下,進行第1構件與第2構件之相對的旋轉驅動。 On the other hand, the first member and the second member are respectively rotated by the first The shaft is coupled to the second rotating shaft so that the two members are structurally independent and incoherent in relative rotational driving between the first member and the second member. Here, the two members are connected via the second link portion. Specifically, as described above, the second link portion and the two supports are provided in a state where the distance between the first support shaft provided on the first member side and the second support shaft provided on the second member side is constant. Axis connection. Then, on the predetermined rotational driving surface, the four straight lines connecting the first support shaft and the second support shaft and the straight line connecting the first rotating shaft and the second rotating shaft are arranged in a state of being intersected. In the state in which the distance between the first support shaft and the second support shaft is constant by the second link portion, the shaft can be rotationally driven by the first member and the second member.
由上,本發明之旋轉驅動機構,一從直動式致動器付與輸出,例如第1構件就被驅動,以第1旋轉軸為中心而相對於第1連桿部旋轉。此時,第1構件是經由第2構件與第2連桿部連接,因此第2構件與第1構件之旋轉連動而被驅動,即以第2旋轉軸為中心相對於第1連桿部旋轉,因此使第1構件與第2構件之相對的旋轉驅動就能予以實現。依如此之本發明之旋轉驅動機構,能藉一個直動式致動器,而實現以不同的2個旋轉軸連接之第1構件與第2構件之相對的旋轉驅動,因此可將致動器配置所需的空間容積縮小,又,能盡可能地迴避兩構件之干擾。結果無須對第1構件與第2構件之外側表面的形狀做大幅度變更,且能盡可能地大幅度地獲取兩構件間之旋轉範圍。 In the above, the rotary drive mechanism of the present invention is driven from the direct-acting actuator, for example, the first member is driven, and is rotated relative to the first link portion around the first rotating shaft. At this time, since the first member is connected to the second link portion via the second member, the second member is driven in conjunction with the rotation of the first member, that is, rotated about the second rotating shaft with respect to the first link portion. Therefore, the rotational driving of the first member and the second member can be realized. According to the rotary drive mechanism of the present invention, the relative rotational drive of the first member and the second member connected by the two different rotary shafts can be realized by a direct acting actuator, so that the actuator can be used The space required for the configuration is reduced, and the interference between the two components can be avoided as much as possible. As a result, it is not necessary to greatly change the shape of the outer surface of the first member and the second member, and the rotation range between the two members can be obtained as much as possible.
本發明可提供一種旋轉驅動機構,該旋轉驅動機 構設在機器人中被驅動做相對旋轉之2個構件之間,能在無須對兩構件之外側表面之形狀加以做大幅度變更之狀態下盡可能地獲取更廣大的兩構件間之旋轉範圍。 The invention can provide a rotary drive mechanism, the rotary drive machine Between the two members that are driven to rotate relative to each other in the robot, it is possible to obtain a wider range of rotation between the two members as much as possible without greatly changing the shape of the outer surface of the two members.
10‧‧‧機器人 10‧‧‧ Robot
11‧‧‧頭部 11‧‧‧ head
12‧‧‧照相機 12‧‧‧ camera
13‧‧‧頸部 13‧‧‧ neck
14‧‧‧背骨部 14‧‧‧ Back bones
14a‧‧‧前方鎖骨部 14a‧‧‧ Front clavicle
14b‧‧‧背面鎖骨部 14b‧‧‧Back clavicle
14c‧‧‧前方胸骨部 14c‧‧‧ front sternum
14d‧‧‧背面胸骨部 14d‧‧‧Back sternum
15‧‧‧腰骨部 15‧‧‧Lumbar bones
16‧‧‧骨盤部 16‧‧‧Bone plate
19‧‧‧彈簧 19‧‧‧ Spring
20‧‧‧驅動單元 20‧‧‧Drive unit
50‧‧‧臂部 50‧‧‧arm
51‧‧‧第1腕構件 51‧‧‧1st wrist component
51a‧‧‧板狀架 51a‧‧‧ Plate rack
51c‧‧‧旋轉內側側面 51c‧‧‧Rotating inner side
52‧‧‧第2腕構件 52‧‧‧2nd wrist member
52a‧‧‧板狀架 52a‧‧‧plate frame
52b‧‧‧基架 52b‧‧‧ pedestal
52c‧‧‧旋轉內側側面 52c‧‧‧Rotating inner side
53‧‧‧第1連桿部 53‧‧‧1st link
53a‧‧‧壁部 53a‧‧‧ wall
53b‧‧‧橋部 53b‧‧ ‧Bridge
53c‧‧‧基部 53c‧‧‧ base
53d‧‧‧第1導引貫通孔 53d‧‧‧1st guiding through hole
53e‧‧‧第2導引貫通孔 53e‧‧‧2nd guiding through hole
54‧‧‧肘關節部 54‧‧‧Elbow joint
55‧‧‧第2連桿部 55‧‧‧2nd link
56‧‧‧旋轉軸 56‧‧‧Rotary axis
57‧‧‧致動器 57‧‧‧Actuator
57a‧‧‧輸出軸 57a‧‧‧ Output shaft
57b‧‧‧連接點 57b‧‧‧ Connection point
61‧‧‧第1旋轉軸 61‧‧‧1st rotating shaft
62‧‧‧第2旋轉軸 62‧‧‧2nd rotation axis
63‧‧‧第1支撐軸 63‧‧‧1st support shaft
64‧‧‧第2支撐軸 64‧‧‧2nd support shaft
圖1是適用本發明之旋轉驅動機構之機器人的前視圖。 BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a front elevational view of a robot to which the rotary drive mechanism of the present invention is applied.
圖2是圖1所示之機器人的側視圖。 Figure 2 is a side view of the robot shown in Figure 1.
圖3是圖1所示之機器人的後視圖。 Figure 3 is a rear elevational view of the robot of Figure 1.
圖4是顯示在圖1所示之機器人中,取下臂部及驅動單元之狀態之圖。 Fig. 4 is a view showing a state in which the arm portion and the drive unit are removed in the robot shown in Fig. 1.
圖5是組裝在圖1所示之機器人的臂部之第1實施例之旋轉驅動機構之外觀圖。 Fig. 5 is an external view of a rotary drive mechanism of a first embodiment assembled to an arm portion of the robot shown in Fig. 1;
圖6是顯示圖5所示之旋轉驅動機構中之連桿構件之動作的第1圖。 Fig. 6 is a first view showing the operation of the link member in the rotation drive mechanism shown in Fig. 5;
圖7是顯示圖5所示之旋轉驅動機構中之連桿構件之動作的第2圖。 Fig. 7 is a second view showing the operation of the link member in the rotation drive mechanism shown in Fig. 5;
圖8是顯示圖5所示之旋轉驅動機構中之連桿構件之動作的第3圖。 Fig. 8 is a third view showing the operation of the link member in the rotation drive mechanism shown in Fig. 5.
圖9是顯示本發明第1實施例之旋轉驅動機構之變形例之第1圖。 Fig. 9 is a first view showing a modification of the rotary drive mechanism according to the first embodiment of the present invention.
圖10是顯示本發明第1實施例之旋轉驅動機構之變形例之第2圖。 Fig. 10 is a second view showing a modification of the rotary drive mechanism according to the first embodiment of the present invention.
圖11是組設在圖1所示之機器人的臂部之第2實施例之旋轉驅動機構之第1外觀圖。 Fig. 11 is a first external view of a rotary drive mechanism of a second embodiment of the arm portion of the robot shown in Fig. 1;
圖12是組設在圖1所示之機器人的臂部之第2實施例之旋轉驅動機構之第2外觀圖。 Fig. 12 is a second external view of the rotary drive mechanism of the second embodiment of the arm portion of the robot shown in Fig. 1;
較佳實施例之詳細說明 Detailed description of the preferred embodiment
以下根據附圖,說明本發明具體的實施形態。本實施例所記載之構成零件之尺寸、材質、形狀、該相對位置等,只要沒有特別記載,其旨趣並不是將發明的技術性範圍只限定於該等者。 Hereinafter, specific embodiments of the present invention will be described with reference to the accompanying drawings. The dimensions, materials, shapes, relative positions, and the like of the components described in the present embodiment are not intended to limit the technical scope of the invention to those skilled in the art unless otherwise specified.
(實施例1) (Example 1)
<機器人10之構成> <Composition of Robot 10>
根據圖1至圖3,針對載設有本發明之旋轉驅動機構之機器人10之概略構成予以說明。圖1是機器人10之前視圖,圖2是機器人10之左側視圖,圖3是機器人10的後視圖。另,在本實施例中,當令機器人10之行進方向為x軸正向,從機器10觀看其左手方向為y軸正向,機器人10中之反重力方向為z軸正向時,x軸為滾轉(roll)軸,y軸為俯仰(pitch)軸,z軸為偏轉(yaw)軸。因此,繞x軸的旋轉成為滾轉動作,繞y軸的旋轉成為俯仰動作,繞z軸的旋轉成為偏轉動作。又,在本實施例中之上方向是z軸正向,即為反重力方向,另一方面,下方向是z軸負向,即為重力方向,左右方向為從機器人10來看時之左右方向,y軸正向為左方向,y軸負向為右方向。 The schematic configuration of the robot 10 carrying the rotary drive mechanism of the present invention will be described with reference to Figs. 1 to 3 . 1 is a front view of the robot 10, FIG. 2 is a left side view of the robot 10, and FIG. 3 is a rear view of the robot 10. In addition, in the present embodiment, when the traveling direction of the robot 10 is the x-axis forward direction, the left-hand direction of the robot 10 is the y-axis forward direction, and the anti-gravity direction of the robot 10 is the z-axis positive direction, the x-axis is The roll axis, the y-axis is the pitch axis, and the z-axis is the yaw axis. Therefore, the rotation about the x-axis becomes a tumbling motion, the rotation about the y-axis becomes a pitching motion, and the rotation about the z-axis becomes a yaw motion. Further, in the present embodiment, the upper direction is the z-axis positive direction, that is, the anti-gravity direction, and the lower direction is the z-axis negative direction, that is, the gravity direction, and the left-right direction is the left and right when viewed from the robot 10. Direction, the y-axis positive direction is the left direction, and the y-axis negative direction is the right direction.
機器人10為人型機器人,具有模仿人的骨骼構造之機體。大概是由以下部分,即,由在圖1中沿z軸方向延 伸形成之背骨部14及後述之板金所形成之各種骨部14a至14d、連結於背骨部14而支撐背骨部14之腰骨部15、進而,支撐腰骨部15且連接有未示於圖中之機器人10之一對腳部之骨盤部16,來形成機器人10之上半身的骨骼構造(以下簡稱為「上半身骨骼構造」)。其次,在背骨部14,連接有機器人10之頸部13,更在其上配置有頭部11。另,在頭部11載設有用以攝影外部之照相機12。經由該頸部13之頭部11與背骨部14之連接,藉此,頭部11可相對於背骨部14進行滾轉動作、偏轉動作,不過該等動作用之機器內部構造並不是構成本發明核心所在,因此在本說明書中省略該詳細的說明。 The robot 10 is a humanoid robot having a body that mimics a human skeleton structure. Probably by the following part, that is, by the z-axis direction in Figure 1 The various bone portions 14a to 14d formed by the stretched back bone portion 14 and the sheet metal described later, the lumbar bone portion 15 connected to the back bone portion 14 to support the back bone portion 14, and further the lumbar bone portion 15 are supported and connected to the figure. The skeletal structure of the upper body of the robot 10 (hereinafter simply referred to as "upper body skeletal structure") is formed by one of the robots 10 on the bone plate portion 16 of the foot. Next, the neck portion 13 of the robot 10 is connected to the back bone portion 14, and the head portion 11 is further disposed thereon. Further, a camera 12 for photographing the outside is mounted on the head 11. Through the connection of the head portion 11 of the neck portion 13 and the back bone portion 14, the head portion 11 can perform a tumbling operation and a yaw operation with respect to the back bone portion 14, but the internal structure of the machine for the operations does not constitute the present invention. The core is located, and thus the detailed description is omitted in this specification.
又,在機器人10,對應於右半身及左上身而分別配置掌管該上半身驅動之驅動單元20。在此,如圖4所示,在背骨部14,於位於機器人10之肩部分之部位,連接有機器人前面側之前方鎖骨部14a及機器人背面側之背面鎖骨部14b。進而,在背骨部14,在位於機器人10之胸部分(較肩部分下方之部位)之部位,連接有機器人前面側之前方胸骨部14c及機器人背面側之背面胸骨部14d。藉該等骨部14a至14d及背骨部14,構成為在將背骨部14夾於其中之機器人10之上半身內之左右形成有預定的空間,在該左右的預定的空間分別收容配置驅動單元20,相對於各骨部14a至14d而連接有驅動單元20。藉此,形成為2個驅動單元20安裝在機器人10內。骨部14a至14d是相對於背骨部14而以平板狀的板金形成,因此驅動單元20相對於背骨部14之安裝能較 為有彈性地實施。 Further, in the robot 10, the drive unit 20 that controls the upper body drive is disposed corresponding to the right and left upper body, respectively. Here, as shown in FIG. 4, in the back bone portion 14, a front clavicle portion 14a on the front side of the robot and a back clavicle portion 14b on the back side of the robot are connected to a portion located at the shoulder portion of the robot 10. Further, in the back bone portion 14, a front sternal portion 14c on the front side of the robot and a back sternum portion 14d on the back side of the robot are connected to a portion of the chest portion (the portion below the shoulder portion) of the robot 10. The bone portions 14a to 14d and the back bone portion 14 are formed with a predetermined space on the left and right sides of the upper body of the robot 10 in which the back bone portion 14 is sandwiched, and the drive unit 20 is housed in the predetermined space on the left and right sides. The drive unit 20 is connected to each of the bone portions 14a to 14d. Thereby, two drive units 20 are formed in the robot 10. The bone portions 14a to 14d are formed in a flat sheet metal shape with respect to the back bone portion 14, so that the mounting of the driving unit 20 with respect to the back bone portion 14 can be compared. It is implemented flexibly.
圖4顯示機器人10之左側的臂部50與對應於此之左上半身用之驅動單元20成為一體,從機器人10之上半身骨骼構造卸下之狀態。如此,驅動單元20是構成為可與對應的臂部50一起從機器人10之上半身骨骼構造卸下,以此能適宜地保持機器人10之安裝性或維護性。在該驅動單元20內載置有用以使臂部50俯仰(pitch)旋轉之致動器、及將該致動器的輸出傳遞至臂部50之傳遞機構,不過驅動單元20本身並不是構成本發明核心所在,因此在本說明書中省略該詳細的說明。 4 shows a state in which the arm portion 50 on the left side of the robot 10 is integrated with the drive unit 20 for the left upper body corresponding thereto, and is detached from the upper body skeleton structure of the robot 10. In this manner, the drive unit 20 is configured to be detachable from the upper body skeleton structure of the robot 10 together with the corresponding arm portion 50, whereby the mountability and maintainability of the robot 10 can be appropriately maintained. An actuator for pivoting the arm portion 50 and a transmission mechanism for transmitting the output of the actuator to the arm portion 50 are placed in the drive unit 20, but the drive unit 20 itself does not constitute a configuration. The core of the invention is therefore omitted in the present specification.
<臂部50之構成> <Configuration of Arm 50>
在此根據圖5至圖8,說明臂部50之構成。圖5顯示構成臂部50之2個腕構件,掌管上腕側的第1腕構件51與下腕側的第2腕構件52之相對的旋轉驅動之關節部,即肘關節部54之外觀圖。另,圖5為了容易把握該肘關節部54之構成,而將圖1等所示之覆蓋各腕構件之蓋構件之記載省略。又,圖6至圖8是用以說明形成該肘關節部54之第1連桿部53及第2連桿部55之動作之圖,以沿臂部50之長軸方向之剖面顯示第1腕構件51、第2腕構件52及肘關節部54之剖視圖。 Here, the configuration of the arm portion 50 will be described with reference to Figs. 5 to 8 . FIG. 5 shows an external view of the elbow joint portion 54 which is a joint portion of the two wrist members constituting the arm portion 50 and the first wrist member 51 on the upper wrist side and the second wrist member 52 on the lower wrist side. In addition, in order to make it easy to grasp the structure of the elbow joint part 54, the description of the cover member which covers each wrist member shown in FIG. 6 to 8 are views for explaining the operation of forming the first link portion 53 and the second link portion 55 of the elbow joint portion 54, and the first section is shown along the longitudinal direction of the arm portion 50. A cross-sectional view of the wrist member 51, the second wrist member 52, and the elbow joint portion 54.
第1腕構件51具有:沿該長軸方向之一對板狀架51a及連接有該一對板狀架51a之基架51b。又,針對第2腕構件52,同樣地也具有:沿該長軸方向之一對板狀架52a及連接有該一對板狀架52a之基架52b。在此,第2腕構件52側之板狀架52a間之距離是設定為與第1腕構件51側之板狀架 51a間之距離大致相同。其次,配置成一對板狀架51a之長軸方向之開口側與一對板狀架52a之長軸方向之開口側互相相向。為此,形成有大致藉一對板狀架51a、52a及基架51b、52b所圍成之空間,而形成為在該所圍成的空間收容用以驅動肘關節部54旋轉之致動器57、及用以將該致動器57之輸出傳遞至各腕構件且相當於本發明之旋轉驅動機構之肘關節部54用之連桿機構之狀態。 The first wrist member 51 has a pair of plate-like frames 51a along the longitudinal direction and a base frame 51b to which the pair of plate-like frames 51a are connected. Further, the second wrist member 52 similarly has one of the plate-like frame 52a and the base frame 52b to which the pair of plate-like frames 52a are connected along the longitudinal direction. Here, the distance between the plate-like frames 52a on the side of the second wrist member 52 is a plate-shaped frame set to the side of the first wrist member 51. The distance between 51a is approximately the same. Then, the opening side in the longitudinal direction of the pair of plate-like frames 51a and the opening side in the longitudinal direction of the pair of plate-like frames 52a are arranged to face each other. For this purpose, a space surrounded by a pair of plate-like frames 51a and 52a and base frames 51b and 52b is formed, and an actuator for driving the rotation of the elbow joint 54 is accommodated in the enclosed space. 57. A state of a link mechanism for transmitting the output of the actuator 57 to each of the wrist members and corresponding to the elbow joint portion 54 of the rotary drive mechanism of the present invention.
首先,針對致動器57予以說明。致動器57是具有伺服馬達、本體部、及沿致動器之軸向而直線移動之輸出軸57a之直動式致動器。在輸出軸57a之外周面形成有螺旋狀的螺紋槽,在本體部,以只容許軸線周圍的旋轉之狀態收容有與輸出軸57a之螺紋槽螺合之球型螺栓(未示於圖中)。然後,伺服馬達與本體部連接,使該球型螺栓旋轉,在本體部內球型螺栓的軸線方向移動受到限制,因此輸出軸57a藉伺服馬達的驅動而沿軸向做直線運動即直動式的運動。 First, the actuator 57 will be described. The actuator 57 is a direct-acting actuator having a servo motor, a body portion, and an output shaft 57a that linearly moves in the axial direction of the actuator. A spiral thread groove is formed on the outer peripheral surface of the output shaft 57a, and a ball type bolt (not shown) that is screwed to the screw groove of the output shaft 57a is accommodated in the main body portion while allowing only the rotation around the axis. . Then, the servo motor is coupled to the main body portion to rotate the ball stud, and the movement of the ball stud in the axial direction of the main body portion is restricted. Therefore, the output shaft 57a is linearly moved in the axial direction by the driving of the servo motor, that is, the direct acting type. motion.
其次,致動器57之輸出軸57a是在構成肘關節部54之第1連桿部53與第2連桿部55中而連接於第1連桿部53。接著,第1連桿部53,如圖5所示,具有從基部53c之兩端同方向突出延伸之2個壁部53a,接著,設有連接兩壁部53a且與基部53c平行之橋部53b。該第1連桿部53是被軸承所支撐,成為相對於第1腕構件51旋轉自如,該旋轉軸是以符號61表示,稱為第1旋轉軸61。進而,第1連桿部53被軸承所支撐,也成為相對於第2腕構件52旋轉自如,該旋轉軸是以符號62表示,稱為第2旋轉軸62。另,第1旋轉軸61與第2旋轉軸62 為相互平行之旋轉軸。 Next, the output shaft 57a of the actuator 57 is connected to the first link portion 53 in the first link portion 53 and the second link portion 55 which constitute the elbow joint portion 54. Next, as shown in FIG. 5, the first link portion 53 has two wall portions 53a that protrude from the opposite ends of the base portion 53c in the same direction, and then has a bridge portion that connects the two wall portions 53a and is parallel to the base portion 53c. 53b. The first link portion 53 is supported by a bearing and is rotatable with respect to the first wrist member 51. The rotation axis is denoted by reference numeral 61 and is referred to as a first rotation shaft 61. Further, the first link portion 53 is rotatably supported by the bearing, and is also rotatable with respect to the second wrist member 52. The rotation axis is denoted by reference numeral 62 and is referred to as a second rotation shaft 62. Further, the first rotating shaft 61 and the second rotating shaft 62 Rotating axes that are parallel to each other.
又,在橋部53b連接有致動器57之輸出軸57a,使與第1連桿部53之方向呈可變化之狀態,令該連接點為57b(參考圖6至圖8)。其次,致動器57是配置在第1腕構件51之一對板狀架51a之間,但如後述,致動器57是被軸承所支撐,以形成相對於第1腕構件51,即相對於一對板狀架51a旋轉自如之狀態,俾於從致動器57有輸出付與至第1連桿部53時,可因應第1連桿部53之姿勢來適當地調整致動器57之輸出軸的方向,令該旋轉軸以56表示。即,該旋轉軸56是用以因應藉第1連桿部53在第1旋轉軸61周圍的旋轉所致之輸出軸57a與橋部53b間之連接點57b的位置改變,將致動器57適當地相對於第1腕構件51傾斜者。 Further, the output shaft 57a of the actuator 57 is connected to the bridge portion 53b so as to be changeable from the direction of the first link portion 53, so that the connection point is 57b (refer to Figs. 6 to 8). Next, the actuator 57 is disposed between one of the first wrist members 51 and the plate-like frame 51a. However, as will be described later, the actuator 57 is supported by the bearing so as to be formed relative to the first wrist member 51, that is, When the pair of plate-like frames 51a are rotatable, when the output from the actuator 57 is applied to the first link portion 53, the actuator 57 can be appropriately adjusted in accordance with the posture of the first link portion 53. The direction of the output shaft is such that the axis of rotation is indicated at 56. In other words, the rotation shaft 56 is for changing the position of the connection point 57b between the output shaft 57a and the bridge portion 53b by the rotation of the first link portion 53 around the first rotation shaft 61. It is appropriately tilted with respect to the first wrist member 51.
如此構成之第1連桿部53是形成二軸關節,即,以第1腕構件51與第2腕構件52分別以第1旋轉軸61與第2旋轉軸62為中介各自地連接成旋轉自如之狀態。此時,第1旋轉軸61與第2旋轉軸62間之軸間距離是相隔預定距離,因此以各旋轉軸為中心旋轉之第1腕構件51及第2腕構件52分別處於難以干擾的狀況。惟,致動器57之輸出軸57a只連接至第1連桿部53側,因此不是一種使致動器57之輸出直接傳遞至第2腕構件62之構成。在此,設有連接第1腕構件51及第2腕構件52之第2連桿部55。 The first link portion 53 configured as described above is a two-axis joint, that is, the first wrist member 51 and the second wrist member 52 are respectively connected to each other by the first rotating shaft 61 and the second rotating shaft 62. State. At this time, since the distance between the axes of the first rotating shaft 61 and the second rotating shaft 62 is a predetermined distance apart, the first wrist member 51 and the second wrist member 52 that rotate around the respective rotating shafts are in a state of being difficult to interfere. . However, since the output shaft 57a of the actuator 57 is connected only to the first link portion 53 side, it is not a configuration for directly transmitting the output of the actuator 57 to the second wrist member 62. Here, the second link portion 55 that connects the first wrist member 51 and the second wrist member 52 is provided.
第2連桿部55,如上述,是形成肘關節部54之連桿部之一者。具體來說,第2連桿部55是連接在設置成連接第1腕構件51之一對板狀架51a間之第1支撐軸63、及設置成 連接第2腕構件52之一對板狀架52a間之第2支撐軸64。在此,在旋轉驅動面上,將第1支撐軸63與第2支撐軸64連起來之直線是形成與將第1旋轉軸61與第2旋轉軸62連起來之直線交叉之狀態下,第1支撐軸63與第2支撐軸64是相對於第1旋轉軸61及第2旋轉軸62配置,並且,第1支撐軸63及第2支撐軸64是成為與第1旋轉軸61及第2旋轉軸62相互平行的軸。藉此,後述之藉致動器57付與之第1腕構件51、第2腕構件52、第1連桿部53、第2連桿部55之旋轉驅動成為在同一旋轉驅動面上進行。其次,第2連桿部55藉該連桿本體而將第1支撐軸63與第2支撐軸64連接,藉此使兩支撐軸間之軸間距離保持一定距離。藉如此構成,可於各自具有旋轉軸之第1腕構件51及第2腕構件53間形成相關,因此可使第2腕構件53與致動器57之輸出連動。另,第2連桿部55是配置成被第1連桿部53的2個壁部53a夾於其中。 As described above, the second link portion 55 is one of the link portions that form the elbow joint portion 54. Specifically, the second link portion 55 is connected to the first support shaft 63 that is provided to connect one of the first wrist members 51 to the plate-like frame 51a, and is provided The second support shaft 64 between the one of the second wrist members 52 and the plate-like frame 52a is connected. Here, the straight line connecting the first support shaft 63 and the second support shaft 64 on the rotational driving surface is formed in a state in which a straight line connecting the first rotating shaft 61 and the second rotating shaft 62 is intersected. The support shaft 63 and the second support shaft 64 are disposed with respect to the first rotation shaft 61 and the second rotation shaft 62, and the first support shaft 63 and the second support shaft 64 are the first rotation shaft 61 and the second rotation shaft 61. The axes of rotation of the shafts 62 are parallel to each other. Thereby, the rotational driving of the first wrist member 51, the second wrist member 52, the first link portion 53, and the second link portion 55 by the actuator 57 to be described later is performed on the same rotational driving surface. Next, the second link portion 55 connects the first support shaft 63 and the second support shaft 64 by the link main body, thereby maintaining the distance between the shafts between the support shafts at a constant distance. According to this configuration, since the first wrist member 51 and the second wrist member 53 each having the rotation axis are formed, the second wrist member 53 can be interlocked with the output of the actuator 57. Further, the second link portion 55 is disposed so as to be sandwiched by the two wall portions 53a of the first link portion 53.
在此,第1支撐軸63及第2支撐軸64分別配置成跨越相面對之板狀架51a、52a,在形成為圖5所示之肘關節部54之狀態下,在第1連桿部53之內部形成有:供第1支撐軸63沿其軸長方向插入且通過之第1導引貫通孔53d、及供第2支撐軸64沿其軸長方向插入且通過之第2導引貫通孔53e(參考圖6至圖8)。更具體地來說,第1導引貫通孔53d是設置於第1連桿部53之2個壁部53a每個,該形狀是沿著第1連桿部53以第1旋轉軸61為中心旋轉時之第1支撐軸63的軌跡延伸形成的形狀,該延伸方向之長度成為第1預定長度。因此,第1導引貫通孔53d,如圖6所示,是在作為該旋轉時之軌跡 而延伸之方向上具有有限度的長度之貫通孔,且構成為在該延伸方向之兩側分別有第1導引貫通孔53d之端部存在。為此,第1支撐軸63是只有在第1導引貫通孔53d之延伸方向的範圍內,可相對於第1連桿部53做相對的移動。 Here, the first support shaft 63 and the second support shaft 64 are disposed so as to straddle the facing plate-like frames 51a and 52a, and are formed in the elbow joint portion 54 shown in FIG. The inside of the portion 53 is formed with a first guide through hole 53d through which the first support shaft 63 is inserted in the axial length direction, and a second guide through which the second support shaft 64 is inserted and passed in the axial length direction. Through hole 53e (refer to FIGS. 6 to 8). More specifically, the first guide through-hole 53d is provided in each of the two wall portions 53a of the first link portion 53, and the shape is centered on the first rotation shaft 61 along the first link portion 53. The shape of the first support shaft 63 at the time of rotation is extended, and the length of the extending direction becomes the first predetermined length. Therefore, the first guide through-hole 53d is a trajectory as the rotation as shown in FIG. The through hole having a limited length in the extending direction is formed to have an end portion of the first guiding through hole 53d on both sides in the extending direction. Therefore, the first support shaft 63 is relatively movable with respect to the first link portion 53 only in a range in which the first guide through hole 53d extends.
進而,第2導引貫通孔53e設於第1連桿部53之基部53c,該形狀是沿著第1連桿部53以第2旋轉軸62為中心旋轉時之第2支撐軸64之軌跡延伸形成之形狀,在該延伸方向之長度成為第2預定長度。因此,第2導引貫通孔53e,如圖6所示,是在作為該旋轉時之軌跡而延伸之方向上具有有限度的長度之貫通孔,且構成為在該延伸方向之兩側分別有第2導引貫通孔53e之端部存在。為此,第2支撐軸64是只有在第2導引貫通孔53e之延伸方向的範圍內,可相對於第1連桿部53做相對的移動。該等第1導引貫通孔53d及第2導引貫通孔53e相當於本發明之導引貫通孔。 Further, the second guide through hole 53e is provided in the base portion 53c of the first link portion 53, and the shape is the trajectory of the second support shaft 64 when the first link portion 53 rotates around the second rotation shaft 62. The shape formed by the extension is the second predetermined length in the extending direction. Therefore, as shown in FIG. 6, the second guide through-hole 53e has a through-hole having a limited length in a direction extending as a locus during the rotation, and is configured to have a side on each side in the extending direction. The end of the second guiding through hole 53e exists. Therefore, the second support shaft 64 is relatively movable with respect to the first link portion 53 only in a range in which the second guide through hole 53e extends. The first guide through-holes 53d and the second guide through-holes 53e correspond to the guide through-holes of the present invention.
在此,根據圖6至圖8,說明以上述之第1連桿部53及第2連桿部55所形成之肘關節部54之動作。圖6是顯示臂部50筆直地伸長的狀態,即,顯示著第1腕構件51之軸中心與第2腕構件52之軸心在旋轉驅動面位於一直線上之狀態。另,該狀態是相當於本發明之最大伸長狀態。其次,致動器57之輸出軸57a往第1連桿部53側伸出去,藉此漸次地使第2腕構件52相對於第1腕構件51旋轉,而趨彎折(顯示在圖7之狀態)。接著,最後,如圖8所示,形成為第2腕構件52相對於第1腕構件51最為彎曲之狀態,即,由第1腕構件51之旋轉內側側面51c與第2腕構件52之旋轉內側側面 52c形成之角(以下稱為「彎折角度」)成為最小之狀態。以下,就各連桿部的動作作詳細說明。 Here, the operation of the elbow joint portion 54 formed by the first link portion 53 and the second link portion 55 described above will be described with reference to Figs. 6 to 8 . FIG. 6 shows a state in which the arm portion 50 is stretched straight, that is, a state in which the axial center of the first wrist member 51 and the axis of the second wrist member 52 are positioned on the rotational driving surface in a straight line. Further, this state is equivalent to the maximum elongation state of the present invention. Then, the output shaft 57a of the actuator 57 is extended toward the first link portion 53 side, whereby the second wrist member 52 is gradually rotated with respect to the first wrist member 51, and is bent (shown in FIG. 7). status). Then, as shown in FIG. 8 , the second wrist member 52 is bent most in the state of the first wrist member 51 , that is, the rotation of the inner side surface 51 c of the first wrist member 51 and the second wrist member 52 . Medial side The angle formed by 52c (hereinafter referred to as "bending angle") is the smallest state. Hereinafter, the operation of each link portion will be described in detail.
在圖6所示之最大伸長狀態,成為第1腕構件51及第2腕構件52筆直伸長之狀態。此時,第1腕構件51側之第1支撐軸63,在圖6中,成為抵接於第1導引貫通孔53d之右側的端部(即,靠第2腕構件52之端部)之狀態。與此同時,第2腕構件53側之第2支撐軸64,在圖6中,並且成為抵接於第2導引貫通孔53e之右側之端部之狀態。即,最大伸長狀態是指:第1支撐軸63與第2支撐軸64抵觸到與各自對應之導引貫通孔53d、53e之端部,而阻擋了該移動之狀態,以此作為臂部50而所形成之狀態。 In the maximum extended state shown in FIG. 6, the first wrist member 51 and the second wrist member 52 are stretched straight. At this time, the first support shaft 63 on the first wrist member 51 side is in contact with the right end portion of the first guide through hole 53d in FIG. 6 (that is, the end portion of the second wrist member 52). State. At the same time, the second support shaft 64 on the second wrist member 53 side is in a state of abutting against the right end portion of the second guide through hole 53e in Fig. 6 . In other words, the maximum extension state means that the first support shaft 63 and the second support shaft 64 are in contact with the end portions of the guide through holes 53d and 53e corresponding thereto, and the movement is blocked, thereby serving as the arm portion 50. And the state of formation.
又,包括該最大伸長狀態,在第1腕構件5]及第2腕構件52大概已伸長之狀態(相當於本發明之預定的伸長狀態之狀態)下,如圖6所示,連接點57b是在沿著於旋轉驅動面上之輸出軸57a之延伸方向(在圖6中以一點鏈線標示之方向。又,在圖中以虛線顯示從第1旋轉軸61相對於上述一點鏈線之垂線。另,在後述之圖7、圖8中亦同樣。)之可動範圍內,相對於第1旋轉軸61而位於左側。另,該可動範圍是指:在圖6所示之最大伸長狀態下,連接點57b位於其中一邊的端部(較上述虛線與一點鏈線之交點而為左側之端部,換言之,相對於第1旋轉軸61而位於第1腕構件52側之端部),在後述之圖8所示之最大彎折狀態下,連接點57b位於另一邊的端部(較上述虛線與一點鏈線之交點而為右側之端部,換言之,相對於第1旋轉軸61而位於右側之端部), 以此來界定且連接點57b可改變位置之範圍。因此,連接點57b是構成為在旋轉驅動面上沿著輸出軸57a之延伸方向而將第1旋轉軸61夾於其中而朝左右兩側改變位置。依此設定連接點57b之可動範圍,以此,如後述,在驅動輸出軸57a時,能盡可能地縮小相對於第1腕構件51之致動器57之傾斜,能實現第1腕構件51之精簡化,容易避免彎曲時之第1腕構件51與第2腕構件52之干擾。 Further, in the state of the maximum elongation, in a state in which the first wrist member 5] and the second wrist member 52 are approximately extended (a state corresponding to a predetermined extended state of the present invention), as shown in FIG. 6, the connection point 57b It is in the extending direction of the output shaft 57a along the rotary driving surface (the direction indicated by a little chain line in Fig. 6. Further, the first rotating shaft 61 is shown with a broken line in the figure with respect to the above-mentioned one-point chain line. In the movable range of FIGS. 7 and 8 which will be described later, the vertical line is located on the left side with respect to the first rotating shaft 61. In addition, the movable range refers to an end portion of one side of the connection point 57b at the maximum extension state shown in FIG. 6 (the end portion of the left side from the intersection of the dotted line and the one-point chain line, in other words, relative to the first 1 at the end portion of the first wrist member 52 on the side of the first shaft member 52, in the maximum bending state shown in FIG. 8 to be described later, the connection point 57b is located at the other end (between the dotted line and the point line) And the end portion on the right side, in other words, the end portion on the right side with respect to the first rotation shaft 61) By this, the connection point 57b can change the range of the position. Therefore, the connection point 57b is configured such that the first rotation shaft 61 is sandwiched between the rotation driving surfaces along the extending direction of the output shaft 57a, and the position is changed to the left and right sides. By setting the movable range of the connection point 57b as described above, as will be described later, when the output shaft 57a is driven, the inclination of the actuator 57 with respect to the first wrist member 51 can be reduced as much as possible, and the first wrist member 51 can be realized. The simplification is simplified, and it is easy to avoid interference between the first wrist member 51 and the second wrist member 52 when bending.
從該最大伸長狀態,藉致動器57之驅動而使該輸出軸57a朝第1連桿部53側跳出,連接點57b逐漸接近於圖中的虛線。如此一來,以第1腕構件51為中心看過去的話,如圖7所示,第1連桿部53以第1旋轉軸61為中心往順時針方向旋轉。此時,如上述,在成為將第1支撐軸63與第2支撐軸64連起來的直線與將第1旋轉軸61與第2旋轉軸62連起來的直線交叉之狀態下配置該等4個軸,以此藉第2連桿部55連接第1支撐軸63及第2支撐軸64,因此一產生上述第1連桿部53之順時針方向之旋轉,就有相對於第2腕構件52而以第2旋轉軸62為中心之順時針方向的旋轉力矩發生作用。結果隨著彎折角度逐漸變小,例如在圖7所示之狀態下,彎折角度大概成為90度。另,在該狀態下,第1支撐軸63是位於第1導引貫孔53d之延伸長度的大概中央部分,第2支撐軸64是位在第2導引貫通孔53e之延伸長度的大概中央部分。又,第1連桿部53往順時針方向旋轉,以此,使致動器57之輸出軸57a與橋部53b之連接點57b之位置成為圖中的虛線上,與圖6所示之位置相比,是移動到附圖的上方。惟,致動器57 是安裝成以旋轉軸56為中心而可相對於第1腕構件51傾斜,所以例如,如圖7所示,就算上述連接點57b移動到上方,從致動器57而往第1連桿部53之輸出的付與也能適當地持續。 From the maximum extended state, the output shaft 57a is jumped toward the first link portion 53 by the driving of the actuator 57, and the connection point 57b gradually approaches the broken line in the figure. When viewed from the center of the first wrist member 51, as shown in FIG. 7, the first link portion 53 rotates clockwise around the first rotating shaft 61. At this time, as described above, four straight lines are formed in a state in which a straight line connecting the first support shaft 63 and the second support shaft 64 and a straight line connecting the first rotating shaft 61 and the second rotating shaft 62 are arranged. Since the first support shaft 63 and the second support shaft 64 are connected to each other by the second link portion 55, the rotation of the first link portion 53 in the clockwise direction is generated with respect to the second wrist member 52. The clockwise rotation torque centering on the second rotation shaft 62 acts. As a result, as the bending angle becomes smaller, for example, in the state shown in Fig. 7, the bending angle is approximately 90 degrees. In this state, the first support shaft 63 is located at a substantially central portion of the extension length of the first guide through hole 53d, and the second support shaft 64 is located at the approximate center of the extension length of the second guide through hole 53e. section. Further, the first link portion 53 is rotated in the clockwise direction, whereby the position of the connection point 57b between the output shaft 57a of the actuator 57 and the bridge portion 53b is a broken line in the figure, and the position shown in FIG. In comparison, it is moved to the top of the drawing. Only the actuator 57 It is attached so as to be tiltable with respect to the first wrist member 51 around the rotation shaft 56. Therefore, as shown in Fig. 7, even when the connection point 57b is moved upward, the actuator 57 is moved to the first link portion. The payment of the output of 53 can also continue as appropriate.
接著,致動器57之輸出軸57a更朝第1連桿部53側跳出,使連接點57b朝圖中的虛線的右側,即,朝上述可動範圍的另一邊的端部側改變位置,第1連桿部53就以第1旋轉軸61為中心更往順時針方向旋轉,配合此動作,第2腕構件52以第2旋轉軸62為中心更往順時針方向旋轉,以此形成為圖8所示之最大彎折狀態。另,該最大彎折狀態是指第1支撐軸63抵接於第1導引貫通孔53d之左側的端部(即,靠第1腕構件51之端部),成為阻擋了從圖6所示之最大伸長狀態之第1支撐軸63在第1導引貫通孔53d內之移動之狀態,以此作為臂部50而所形成之狀態。 Then, the output shaft 57a of the actuator 57 jumps further toward the first link portion 53 side, and the connection point 57b is changed to the right side of the broken line in the drawing, that is, to the end side of the other side of the movable range. When the first link member 53 is rotated clockwise about the first rotation axis 61, the second wrist member 52 is rotated clockwise about the second rotation axis 62 to form a map. The maximum bending state shown in 8. In addition, the maximum bending state is that the first support shaft 63 abuts against the left end portion of the first guide through hole 53d (that is, the end portion of the first wrist member 51), and is blocked from FIG. The state in which the first support shaft 63 in the maximum extended state is moved in the first guide through-hole 53d is formed as the arm portion 50.
如此構成之第1腕構件51與第2腕構件52之肘關節部54是相對於第1連桿部53,而將第1腕構件51及第2腕構件52經由分別對應之第1旋轉軸61、第2旋轉軸62連接。接著,第1旋轉軸61與第2旋轉軸62間之軸間距離是設定為預定距離,因此能盡可能地縮小以各旋轉軸為中心之各腕構件的旋轉範圍彼此干擾的領域。結果,如圖8所示,無須對第1腕構件51及第2腕構件52之外側表面的形狀施以很大的變更,能盡可能地縮小臂部50中之最大彎折角度。又,第1腕構件51與第2腕構件52是藉第2連桿部55連結,以此藉一台直動式致動器57,就能實線雙軸結合的第1腕構件51與第 2腕構件52之相對的旋轉驅動。藉此,可將兩腕構件的旋轉驅動用之致動器所佔的空間容積縮小。 The elbow joint portion 54 of the first wrist member 51 and the second wrist member 52 configured as described above is connected to the first link portion 53, and the first wrist member 51 and the second wrist member 52 are respectively coupled to the first rotation shaft. 61. The second rotating shaft 62 is connected. Since the distance between the axes of the first rotating shaft 61 and the second rotating shaft 62 is set to a predetermined distance, the range in which the rotational ranges of the respective wrist members around the respective rotating shafts interfere with each other can be reduced as much as possible. As a result, as shown in FIG. 8, it is not necessary to greatly change the shape of the outer surface of the first wrist member 51 and the second wrist member 52, and the maximum bending angle of the arm portion 50 can be reduced as much as possible. Further, the first wrist member 51 and the second wrist member 52 are coupled to each other by the second link portion 55, whereby the first wrist member 51 that can be biaxially coupled by the solid line can be connected by a single linear actuator 57. First 2 The relative rotational drive of the wrist member 52. Thereby, the space occupied by the actuator for rotational driving of the two wrist members can be reduced.
進而,在連接點57b之可動範圍如上設定時,在旋轉驅動面上,連接點57b與第1支撐軸63是相對於將第1旋轉軸61與第2旋轉軸62連起來的直線而位於相同側。在此,連接點57b從圖6所示之狀態改變位置到圖8所示之狀態,第2連桿部55就往順時針方向旋轉,然後就構成為將第1旋轉軸61與第2旋轉軸62連起來的直線與將第1支撐軸63與第2支撐軸64連起來的直線交叉。惟,如上述設定連接點57b及第1支撐軸63之位置,以此,在第2連桿部55往順時針方向旋轉時,該旋轉方向成為遠離第1旋轉軸61或第2旋轉軸62之方向,因此與兩軸之間不容易受到干擾。這事意味著盡可能地確保很大的第2腕構件52相對於第1腕構件51之相對旋轉驅動的範圍,可說是與極有利用價值之旋轉驅動機構有關之構成。 Further, when the movable range of the connection point 57b is set as described above, the connection point 57b and the first support shaft 63 are located on the same surface with respect to the line connecting the first rotation axis 61 and the second rotation axis 62 on the rotation drive surface. side. Here, the connection point 57b is rotated from the state shown in FIG. 6 to the state shown in FIG. 8, and the second link portion 55 is rotated in the clockwise direction, and then the first rotation shaft 61 and the second rotation are configured. A straight line connecting the shafts 62 intersects with a straight line connecting the first support shaft 63 and the second support shaft 64. However, when the position of the connection point 57b and the first support shaft 63 is set as described above, when the second link portion 55 rotates clockwise, the rotation direction is away from the first rotation shaft 61 or the second rotation shaft 62. The direction is therefore not easily disturbed between the two axes. This means that the range in which the large second wrist member 52 is relatively rotated with respect to the first wrist member 51 is ensured as much as possible, and it can be said that it is related to the extremely useful rotary drive mechanism.
又,在第1腕構件51與第2腕構件52之相對的旋轉驅動,臂部50伸展到最長之最大伸長狀態及臂部50彎曲到最大之最大彎折狀態,成為第2連桿部55所連接之第1支撐軸63、第2支撐軸64之至少其中一者抵接於與該等分別對應之導引貫通孔之端部之狀態。結果,能容易地形成機械性地限制第1腕構件51與第2腕構件52之相對的旋轉驅動之擋止件,換言之,以容易之擋止件構成,也能適當地抑制第1腕構件51與第2腕構件52之相對的旋轉驅動之缺失,例如第1腕構件51與第2腕構件52之旋轉衝突等。 Further, in the rotational driving of the first wrist member 51 and the second wrist member 52, the arm portion 50 is extended to the longest maximum extended state and the arm portion 50 is bent to the maximum maximum bending state, and becomes the second link portion 55. At least one of the first support shaft 63 and the second support shaft 64 that are connected to each other is in contact with the end portion of the guide through hole corresponding to the respective ones. As a result, it is possible to easily form a stopper that mechanically restricts the rotational driving of the first wrist member 51 and the second wrist member 52, in other words, with an easy stopper, and can appropriately suppress the first wrist member. The absence of the rotational driving of the second wrist member 52 and the second wrist member 52, for example, the rotation of the first wrist member 51 and the second wrist member 52, etc.
<變形例> <Modification>
又,根據圖9及圖10,說明肘關節部54之變形例。圖9,與圖6一樣,顯示臂部50處於最大伸長狀態之狀態,又,圖10,與圖8一樣,顯示處於最大彎折狀態之狀態。另,在圖9及圖10中,對於基本上與圖6至圖8所示構成對應之構成是附上相同參考符號,容予省略相關之詳細說明。 Further, a modification of the elbow joint portion 54 will be described with reference to Figs. 9 and 10 . Fig. 9 shows the state in which the arm portion 50 is in the maximum extended state as in Fig. 6, and Fig. 10, as in Fig. 8, shows the state in the maximum bent state. It is to be noted that the same reference numerals are attached to the configurations that are substantially the same as those in the configuration shown in Fig. 9 and Fig. 8 and the detailed description thereof will be omitted.
在此,本變形例,與圖6至圖8所示之實施例不同的點在於連接點57b之位置、與各腕構件之旋轉狀態之相關。具體來說,在包括最大伸長狀態在內,第1腕構件51與第2腕構件52已大概伸長之狀態下,如圖9所示,連接點57b是在沿著旋轉驅動面上之輸出軸57a之延伸方向(在圖8、圖9中以一點鏈線標示之方向。又,在圖中以虛線顯示從第1旋轉軸61相對於上述一點鏈線之垂線。)之可動範圍內,相對於第1旋轉軸61而位於右側。另,該可動範圍是指:在圖9所示之最大伸長狀態下連接點57b位於其中一邊的端部(較上述虛線與一點鏈線之交點而為右側之端部,換言之,相對於第1旋轉軸61而位於第2腕構件52側之端部),在後述之圖10所示之最大彎折狀態下,連接點57b位於另一邊的端部(較上述虛線與一點鏈線之交點而為左側之端部,換言之,相對於第1旋轉軸61而位於第1腕構件51側之端部),以此來界定且連接點57b可改變位置之範圍。因此,連接點57b是構成為在旋轉驅動面上沿著輸出軸57a之延伸方向而將第1旋轉軸61夾於其中而朝左右兩側改變位置。依此設定連接點57b之可動範圍,與圖6至圖8所示之實施例相同,以此, 在驅動輸出軸57a時,能盡可能地縮小相對於第1腕構件51之致動器57之傾斜,能實現第1腕構件51之精簡化,容易避免彎曲時之第1腕構件51與第2腕構件52之干擾。 Here, the present modification differs from the embodiment shown in FIGS. 6 to 8 in the position of the connection point 57b and the rotation state of each wrist member. Specifically, in a state in which the first wrist member 51 and the second wrist member 52 are approximately extended, including the maximum extension state, as shown in FIG. 9, the connection point 57b is an output shaft along the rotational driving surface. The extending direction of 57a (in the direction indicated by a one-dot chain line in Figs. 8 and 9 and the vertical line from the first rotating shaft 61 with respect to the one-point chain line in the figure) It is located on the right side of the first rotating shaft 61. In addition, the movable range refers to an end portion of the connecting point 57b located at one side in the maximum extended state shown in FIG. 9 (the end portion on the right side from the intersection of the dotted line and the one-point chain line, in other words, relative to the first The rotation shaft 61 is located at the end of the second wrist member 52 side. In the maximum bending state shown in FIG. 10, which will be described later, the connection point 57b is located at the other end (more than the intersection of the dotted line and the one-point chain line). The end portion on the left side, in other words, the end portion on the side of the first wrist member 51 with respect to the first rotation shaft 61, is defined so that the connection point 57b can change the range of the position. Therefore, the connection point 57b is configured such that the first rotation shaft 61 is sandwiched between the rotation driving surfaces along the extending direction of the output shaft 57a, and the position is changed to the left and right sides. The movable range of the connection point 57b is set accordingly, which is the same as the embodiment shown in FIGS. 6 to 8. When the output shaft 57a is driven, the inclination of the actuator 57 with respect to the first wrist member 51 can be reduced as much as possible, and the first wrist member 51 can be simplified, and the first wrist member 51 and the first bending member can be easily avoided. 2 interference of the wrist member 52.
從該最大伸長狀態,藉致動器57之驅動,使該輸出軸57a被拉進致動器57內,以此,使第1連桿部53往逆時針方向旋轉,配合該動作,第2腕構件52以第2旋轉軸62為中心而往逆時針方向旋轉,以此,最後,如圖10所示,連接點57b位於圖中的虛線的左側,即,位於上述可動範圍的最左側的端部,形成為最大彎折狀態。 From the maximum extended state, the output shaft 57a is pulled into the actuator 57 by the driving of the actuator 57, whereby the first link portion 53 is rotated counterclockwise, and the operation is performed second. The wrist member 52 is rotated counterclockwise about the second rotation shaft 62. Finally, as shown in Fig. 10, the connection point 57b is located on the left side of the broken line in the figure, that is, on the leftmost side of the movable range. The end portion is formed to be in a maximum bent state.
如此,在設定了連接點57b之可動範圍時,在旋轉驅動面上,連接點57b與第1支撐軸63是夾著將第1旋轉軸61與第2旋轉軸62連起來的直線,而分別位於相反側。在此,連接點57b一從圖9所示之狀態改變位置到圖10所示之狀態時,第2連桿部55往逆時針方向旋轉,然後構成為將第1旋轉軸61與第2旋轉軸62連起來的直線、與將第1支撐軸63與第2支撐軸64連起來的直線交叉。惟,如上述,設定連接點57b及第1支撐軸63之位置,以此使第2連桿部55往逆時針方向旋轉時,該旋轉方向成為遠離第1旋轉軸61或第2旋轉軸62之方向,因此與兩軸之間不容易受到干擾。這事意味著盡可能地確保很大的第2腕構件52相對於第1腕構件51之相對旋轉驅動的範圍,可說是與極有利用價值之旋轉驅動機構有關之構成。 When the movable range of the connection point 57b is set, the connection point 57b and the first support shaft 63 are connected to each other by a line connecting the first rotating shaft 61 and the second rotating shaft 62 on the rotational driving surface. Located on the opposite side. Here, when the connection point 57b is rotated from the state shown in FIG. 9 to the state shown in FIG. 10, the second link portion 55 is rotated counterclockwise, and then the first rotation shaft 61 and the second rotation are configured. A straight line connecting the shafts 62 intersects with a straight line connecting the first support shaft 63 and the second support shaft 64. However, as described above, when the position of the connection point 57b and the first support shaft 63 is set to rotate the second link portion 55 in the counterclockwise direction, the rotation direction is away from the first rotation shaft 61 or the second rotation shaft 62. The direction is therefore not easily disturbed between the two axes. This means that the range in which the large second wrist member 52 is relatively rotated with respect to the first wrist member 51 is ensured as much as possible, and it can be said that it is related to the extremely useful rotary drive mechanism.
在此,本變形例與上述之實施例相比,在本變形例之肘關節部54中,將致動器57之輸出軸57a拉進,以成為 相對於第1腕構件51彎折第2腕構件52,另一方面,在上述之實施例之肘關節部54中,使致動器57之輸出軸57a跳出,以成為相對於第1腕構件51彎折第2腕構件52。如此,輸出軸57a之直動方向與肘關節部54之彎折方向之相關在兩例中是不同的,但是對於機器人中之肘關節部54,只要依各式各樣的理由而適當地選擇來自任一理由之形態來適用時即可。例如,在致動器57,當於輸出軸57a之特定的直動方向上獲得較佳的摩擦特性時,先考慮該摩擦特性後決定輸出軸的直動方向,再來根據上述之開示,決定該時候的旋轉驅動面上之連接點57b與第1支撐軸63之配置,以此就能形成旋轉驅動範圍廣大之肘關節部54。 Here, in the present modification, the elbow joint portion 54 of the present modification is pulled in the output shaft 57a of the actuator 57 as compared with the above-described embodiment. The second wrist member 52 is bent with respect to the first wrist member 51. On the other hand, in the elbow joint portion 54 of the above-described embodiment, the output shaft 57a of the actuator 57 is jumped out to be relative to the first wrist member. 51 bends the second wrist member 52. Thus, the correlation between the direct motion direction of the output shaft 57a and the bending direction of the elbow joint portion 54 is different in the two cases, but the elbow joint portion 54 in the robot is appropriately selected for various reasons. It can be used when the form of any reason is applied. For example, in the actuator 57, when a preferable friction characteristic is obtained in a specific direct motion direction of the output shaft 57a, the direct motion direction of the output shaft is determined by considering the friction characteristic, and then determined according to the above-mentioned opening and lowering. At this time, the connection point 57b on the rotational driving surface and the first support shaft 63 are arranged, whereby the elbow joint portion 54 having a wide rotational driving range can be formed.
[實施例2] [Embodiment 2]
根據圖11及圖12,說明本發明之第2實施例。圖11是顯示處於最大伸長狀態之臂部50,圖12是顯示驅動第2腕構件52而相對於第1腕構件51旋轉,使其從最大伸長狀態到某個角度之狀態,即,彎折狀態。在此,在上述的第1實施例中,形成肘關節部54之第2連桿部55是配置成被夾在第1連桿部53之2個壁部53a之間,肘關節部54本身成為收容在第1腕構件51之板狀架51a與第2腕構件52之板狀架52a間之空間之狀態。在此,在本實施例中,將形成肘關節部54之第2連桿部55,在位於該空間之外且相對於旋轉內側側面51c、52c垂直之側面上作為側面板而所形成。如此,作為側面板而所形成之第2連桿部55,如圖12所示,就算在臂部50彎折的狀態,也不存在於與旋轉內側側面51c、52c干擾之位置。 A second embodiment of the present invention will be described with reference to Figs. 11 and 12 . 11 is a view showing the arm portion 50 in a state of maximum elongation, and FIG. 12 is a view showing a state in which the second wrist member 52 is driven to rotate relative to the first wrist member 51 from a maximum elongation state to a certain angle, that is, a bending state. status. Here, in the first embodiment described above, the second link portion 55 forming the elbow joint portion 54 is disposed so as to be sandwiched between the two wall portions 53a of the first link portion 53, and the elbow joint portion 54 itself It is in a state of being accommodated in a space between the plate-like frame 51a of the first wrist member 51 and the plate-like frame 52a of the second wrist member 52. Here, in the present embodiment, the second link portion 55 forming the elbow joint portion 54 is formed as a side panel on a side surface which is located outside the space and which is perpendicular to the rotation inner side surfaces 51c, 52c. As described above, as shown in FIG. 12, the second link portion 55 formed as the side panel does not interfere with the rotational inner side surfaces 51c and 52c even when the arm portion 50 is bent.
在如此構成之肘關節部54中,作為側面板之第2連桿部55是與第1支撐軸63與第2支撐軸64連接,第1支撐軸63與第2支撐軸64,如同於上述第1實施例,是成為插入設在第1連桿部51且與各支撐軸對應之導引貫通孔53d、53e(在圖11、圖12中未顯示)之狀態。另,針對第1連桿部51與第1腕構件51及與第2腕構件52之經由旋轉軸61、62之連接,是與上述第1實施例相同,但該各旋轉軸61、62是位於作為側面板之第2連桿部55之下方,因此在圖11及圖12所示之狀態下未示於圖中。進而,各導引貫通孔之端部與各支撐軸之抵接狀態、與臂部50之姿勢(即,最大伸長狀態及最大彎折狀態)之相關關係亦與第1實施例相同,因此該詳細說明予以省略。如此將第2連桿部55形成為側面板,以此,如同於上述之第1實施例,無須對第1腕構件51及第2腕構件52之外側表面的形狀施與很大的變更,就能盡可能地縮小臂部50之最大彎折角度,又,能容易形成機械性地限制第1腕構件51與第2腕構件52之相對的旋轉驅動的範圍之擋止件。 In the elbow joint portion 54 configured as described above, the second link portion 55 as the side panel is connected to the first support shaft 63 and the second support shaft 64, and the first support shaft 63 and the second support shaft 64 are as described above. In the first embodiment, the guide through holes 53d and 53e (not shown in Figs. 11 and 12) provided in the first link portion 51 and corresponding to the respective support shafts are inserted. The connection between the first link portion 51 and the first wrist member 51 and the second wrist member 52 via the rotating shafts 61 and 62 is the same as that of the first embodiment, but the respective rotating shafts 61 and 62 are It is located below the second link portion 55 as the side panel, and therefore is not shown in the state shown in Figs. 11 and 12 . Further, the relationship between the contact state between the end portions of the guide through-holes and the support shafts and the posture of the arm portion 50 (that is, the maximum extension state and the maximum bending state) are also the same as in the first embodiment. The detailed description will be omitted. Thus, the second link portion 55 is formed as a side panel, and as in the first embodiment described above, it is not necessary to greatly change the shape of the outer surface of the first wrist member 51 and the second wrist member 52. The maximum bending angle of the arm portion 50 can be reduced as much as possible, and the stopper for mechanically restricting the range of rotational driving of the first wrist member 51 and the second wrist member 52 can be easily formed.
<其他實施例> <Other Embodiments>
在迄至上述為止之實施例中,對於本發明之旋轉旋轉機構,是舉了臂部50中之肘關節部54為例顯示,但除此之外,對於機器人10之腳部中之膝關節部,即,當腳部是以上腿部及下腿部形成時,驅動上腿部與下腿部作相對旋轉用之膝關節部,也可適用本發明。又,對於其他關節部,即將構成機器人的構件且可作相對旋轉驅動之構件彼此連 接之關節部,也可運用本發明。 In the embodiment up to the above, the rotary rotating mechanism of the present invention is an example in which the elbow joint portion 54 of the arm portion 50 is shown, but in addition to the knee joint in the foot portion of the robot 10 The present invention is also applicable to a knee joint portion for driving the upper leg portion and the lower leg portion to rotate when the leg portion is formed by the above leg portion and the lower leg portion. Moreover, for other joint parts, members that constitute the robot and can be driven by relative rotation are connected to each other. The present invention can also be applied to the joint portion.
51‧‧‧第1腕構件 51‧‧‧1st wrist component
52‧‧‧第2腕構件 52‧‧‧2nd wrist member
53‧‧‧第1連桿部 53‧‧‧1st link
53d‧‧‧第1導引貫通孔 53d‧‧‧1st guiding through hole
53e‧‧‧第2導引貫通孔 53e‧‧‧2nd guiding through hole
55‧‧‧第2連桿部 55‧‧‧2nd link
57‧‧‧致動器 57‧‧‧Actuator
57a‧‧‧輸出軸 57a‧‧‧ Output shaft
57b‧‧‧連接點 57b‧‧‧ Connection point
61‧‧‧第1旋轉軸 61‧‧‧1st rotating shaft
62‧‧‧第2旋轉軸 62‧‧‧2nd rotation axis
63‧‧‧第1支撐軸 63‧‧‧1st support shaft
64‧‧‧第2支撐軸 64‧‧‧2nd support shaft

Claims (10)

  1. 一種機器人的旋轉驅動機構,用以經由具有直動式輸出軸之直動式致動器,而將機器人一部分即第1構件及第2構件驅動,使該等在預定的旋轉驅動面上作相對旋轉,且包含有:第1連桿部,使前述直動式致動器之輸出軸連接,配置成經由第1旋轉軸而相對於前述第1構件旋轉自如,且配置成經由第2旋轉軸而相對於前述第2構件側旋轉自如,該第1旋轉軸與該第2旋轉軸間之軸間距離設定為一預定距離,該預定距離為可驅動該第1構件與該第2構件使其等在前述預定的旋轉驅動面上旋轉;及第2連桿部,連接於設在前述第1構件側之第1支撐軸、與設於前述第2構件側之第2支撐軸,使該第1支撐軸與該第2支撐軸間之軸間距離為一定;並且相對於該第1旋轉軸與該第2旋轉軸,而將該第1支撐軸與該第2支撐軸配置成於前述預定的旋轉驅動面上將前述第1支撐軸與前述第2支撐軸連起來的直線,與將前述第1旋轉軸與前述第2旋轉軸連起來的直線交叉,前述第1連桿部更具有導引貫通孔,該導引貫通孔具有預定長度,藉此形成為讓前述第1支撐軸與前述第2支撐軸沿各自的軸長方向插入,使該第1支撐軸及該第2支撐軸可沿前述預定的旋轉驅動面作相對移動,當付與 有來自前述直動式致動器之輸出時,該第1支撐軸及該第2支撐軸藉該導引貫通孔在該導引貫通孔之延伸範圍內作相對移動,以此決定前述第1構件與前述第2構件之相對的旋轉驅動範圍。 A rotary drive mechanism for a robot for driving a part of a robot, that is, a first member and a second member, via a direct-acting actuator having a direct-acting output shaft, so as to be opposite to each other on a predetermined rotary drive surface The first link portion is connected to the first link portion, and the output shaft of the linear actuator is connected to the first rotating member, and is disposed to be rotatable with respect to the first member via the first rotating shaft, and is disposed via the second rotating shaft. Rotating with respect to the second member side, the distance between the first rotating shaft and the second rotating shaft is set to a predetermined distance, and the predetermined distance is such that the first member and the second member can be driven And rotating on the predetermined rotation driving surface; and the second link portion is connected to the first support shaft provided on the first member side and the second support shaft provided on the second member side, a distance between the shaft between the support shaft and the second support shaft is constant; and the first support shaft and the second support shaft are disposed at the predetermined position with respect to the first rotation shaft and the second rotation shaft The first support shaft and the second support on the rotating drive surface The connected straight line intersects with a straight line connecting the first rotating shaft and the second rotating shaft, and the first link portion further has a guiding through hole having a predetermined length, thereby being formed as Inserting the first support shaft and the second support shaft in the axial length direction, so that the first support shaft and the second support shaft can move relative to each other along the predetermined rotation drive surface, and When there is an output from the linear actuator, the first support shaft and the second support shaft are relatively moved within the extension of the guide through hole by the guide through hole, thereby determining the first The rotational driving range of the member opposite to the second member.
  2. 如請求項1之機器人的旋轉驅動機構,其中藉前述導引貫通孔的端部與前述第1支撐軸或者是前述第2支撐軸之接觸,而阻止該第1支撐軸或者是該第2支撐軸之在該導引貫通孔的移動,以此形成在前述預定的旋轉驅動面之前述第1構件之旋轉內側側面與前述第2構件之旋轉內側側面最接近之最大彎折狀態。 The rotation drive mechanism of the robot according to claim 1, wherein the first support shaft or the second support is blocked by the end of the guide through hole contacting the first support shaft or the second support shaft. The movement of the guide through-hole is formed in a state in which the rotation inner side surface of the first member on the predetermined rotation drive surface is closest to the rotation inner side surface of the second member.
  3. 如請求項1之機器人的旋轉驅動機構,其中藉前述導引貫通孔之端部與前述第1支撐軸或者是前述第2支撐軸之接觸,而阻止該第1支撐軸或該第2支撐軸在該導引貫通孔之移動,以此在前述預定的旋轉驅動面形成前述第1構件之軸中心與前述第2構件之軸中心位於相同直線上之最大伸長狀態。 The rotation driving mechanism of the robot according to claim 1, wherein the first support shaft or the second support shaft is blocked by the end of the guide through hole contacting the first support shaft or the second support shaft. The guide through-hole moves to form a maximum extended state in which the axial center of the first member and the axial center of the second member lie on the same straight line on the predetermined rotational driving surface.
  4. 如請求項1至3中任一項之機器人的旋轉驅動機構,其中在前述預定的旋轉驅動面上,前述直動式致動器的輸出軸與前述第1連桿部之連接點是在沿著該輸出軸的延伸方向而將前述第1旋轉軸夾於其中而延伸之可動範圍改變位置,前述第1構件與前述第2構件已處於預定的伸長狀態時,前述連接點是構成為在前述可動範圍內位於該第1構件側,且,在前述預定的旋轉驅動面上,該連接點與 前述第1支撐軸是相對於將前述第1旋轉軸與前述第2旋轉軸連起來的直線而位在相同側,使前述連接點在前述可動範圍內從其中一端部側改變位置到另一端部側,以此驅動該第2構件,使其相對於該第1構件旋轉。 The rotary drive mechanism of the robot according to any one of claims 1 to 3, wherein a connection point of the output shaft of the direct-acting actuator and the first link portion is on the predetermined rotational driving surface a movable range changing position in which the first rotating shaft is sandwiched by the extending direction of the output shaft, and when the first member and the second member are in a predetermined extended state, the connection point is configured as described above The movable member is located on the first member side, and on the predetermined rotating driving surface, the connection point is The first support shaft is positioned on the same side with respect to a straight line connecting the first rotating shaft and the second rotating shaft, and the connecting point is changed from the one end side to the other end in the movable range. The second member is driven to rotate relative to the first member.
  5. 如請求項1至3中任一項之機器人的旋轉驅動機構,其中在前述預定的旋轉驅動面上,前述直動式致動器的輸出軸與前述第1連桿部之連接點是在沿著該輸出軸的延伸方向而將前述第1旋轉軸夾於其中而延伸之可動範圍改變位置,前述第1構件與前述第2構件已處於預定的伸長狀態時,前述連接點是構成為在前述可動範圍內位於該第2構件側,且,在前述預定的旋轉驅動面上,該連接點與前述第1支撐軸是將前述第1旋轉軸與前述第2旋轉軸連起來的直線夾於其中而分別位在相反側,使前述連接點在前述可動範圍內從其中一端部側改變位置到另一端部側,以此驅動該第2構件,使其相對於該第1構件旋轉。 The rotary drive mechanism of the robot according to any one of claims 1 to 3, wherein a connection point of the output shaft of the direct-acting actuator and the first link portion is on the predetermined rotational driving surface a movable range changing position in which the first rotating shaft is sandwiched by the extending direction of the output shaft, and when the first member and the second member are in a predetermined extended state, the connection point is configured as described above The movable member is located on the second member side, and the connection point and the first support shaft are a line connecting the first rotating shaft and the second rotating shaft to the predetermined rotating driving surface. On the other hand, on the opposite side, the connection point is changed from the one end side to the other end side in the movable range, thereby driving the second member to rotate relative to the first member.
  6. 如請求項1至3中任一項之機器人的旋轉驅動機構,其中前述第1構件及前述第2構件為分別形成前述機器人的臂部之構件,前述第1連桿部及前述第2連桿部形成為該臂部之肘關節,或,前述第1構件及前述第2構件為分別形成前述機器人的腳部之構件,前述第1連桿部及前述第2連桿部形 成為該腳部之膝關節。 The rotary drive mechanism of the robot according to any one of claims 1 to 3, wherein the first member and the second member are members that respectively form an arm portion of the robot, the first link portion and the second link The first portion and the second member are members for forming the leg portions of the robot, and the first link portion and the second link portion are formed. Become the knee joint of the foot.
  7. 一種機器人的旋轉驅動機構,用以經由具有直動式輸出軸之直動式致動器,而將機器人一部分即第1構件及第2構件驅動,使該等在預定的旋轉驅動面上作相對旋轉,且包含有:第1連桿部,使前述直動式致動器之輸出軸連接,配置成經由第1旋轉軸而相對於前述第1構件旋轉自如,且配置成經由第2旋轉軸而相對於前述第2構件側旋轉自如,該第1旋轉軸與該第2旋轉軸間之軸間距離設定為一預定距離,該預定距離為可驅動該第1構件與該第2構件使其等在前述預定的旋轉驅動面上旋轉;及第2連桿部,連接於設在前述第1構件側之第1支撐軸、與設於前述第2構件側之第2支撐軸,使該第1支撐軸與該第2支撐軸間之軸間距離為一定;並且相對於該第1旋轉軸與該第2旋轉軸,而將該第1支撐軸與該第2支撐軸配置成於前述預定的旋轉驅動面上將前述第1支撐軸與前述第2支撐軸連起來的直線,與將前述第1旋轉軸與前述第2旋轉軸連起來的直線交叉,前述第2連桿部是以在前述第1連桿部之寬度方向上被該第1連桿部夾於其中之狀態配置。 A rotary drive mechanism for a robot for driving a part of a robot, that is, a first member and a second member, via a direct-acting actuator having a direct-acting output shaft, so as to be opposite to each other on a predetermined rotary drive surface The first link portion is connected to the first link portion, and the output shaft of the linear actuator is connected to the first rotating member, and is disposed to be rotatable with respect to the first member via the first rotating shaft, and is disposed via the second rotating shaft. Rotating with respect to the second member side, the distance between the first rotating shaft and the second rotating shaft is set to a predetermined distance, and the predetermined distance is such that the first member and the second member can be driven And rotating on the predetermined rotation driving surface; and the second link portion is connected to the first support shaft provided on the first member side and the second support shaft provided on the second member side, a distance between the shaft between the support shaft and the second support shaft is constant; and the first support shaft and the second support shaft are disposed at the predetermined position with respect to the first rotation shaft and the second rotation shaft The first support shaft and the second support on the rotating drive surface The connected straight line intersects with a straight line connecting the first rotating shaft and the second rotating shaft, and the second link portion is the first link portion in the width direction of the first link portion. Configured in the state of the clip.
  8. 如請求項7之機器人的旋轉驅動機構,其中前述第1連桿部更具有導引貫通孔,該導引貫通孔具有預定長度,藉此形成為讓前述第1支撐軸與前述第2支撐軸沿各自的 軸長方向插入,使該第1支撐軸及該第2支撐軸可沿前述預定的旋轉驅動面作相對移動,當付與有來自前述直動式致動器之輸出時,該第1支撐軸及該第2支撐軸藉該導引貫通孔在該導引貫通孔之延伸範圍內作相對移動,以此決定前述第1構件與前述第2構件之相對的旋轉驅動範圍。 The rotary drive mechanism of the robot of claim 7, wherein the first link portion further has a guide through hole having a predetermined length, thereby forming the first support shaft and the second support shaft Along each Inserting in the axial direction, the first support shaft and the second support shaft are relatively movable along the predetermined rotational driving surface, and when the output from the linear actuator is applied, the first supporting shaft The second support shaft is relatively moved within the extending range of the guide through hole by the guide through hole, thereby determining a rotational driving range of the first member and the second member.
  9. 一種機器人的旋轉驅動機構,用以經由具有直動式輸出軸之直動式致動器,而將機器人一部分即第1構件及第2構件驅動,使該等在預定的旋轉驅動面上作相對旋轉,且包含有:第1連桿部,使前述直動式致動器之輸出軸連接,配置成經由第1旋轉軸而相對於前述第1構件旋轉自如,且配置成經由第2旋轉軸而相對於前述第2構件側旋轉自如,該第1旋轉軸與該第2旋轉軸間之軸間距離設定為一預定距離,該預定距離為可驅動該第1構件與該第2構件使其等在前述預定的旋轉驅動面上旋轉;及第2連桿部,連接於設在前述第1構件側之第1支撐軸、與設於前述第2構件側之第2支撐軸,使該第1支撐軸與該第2支撐軸間之軸間距離為一定;並且相對於該第1旋轉軸與該第2旋轉軸,而將該第1支撐軸與該第2支撐軸配置成於前述預定的旋轉驅動面上將前述第1支撐軸與前述第2支撐軸連起來的直線,與將前述第1旋轉軸與前述第2旋轉軸連起來的直線交叉, 前述第2連桿部是配置在前述第1連桿部之寬度方向上該第1連桿部的外側,且,形成作為配置於較前述第1構件之外部表面及前述第2構件之外側表面更外側之側面板。 A rotary drive mechanism for a robot for driving a part of a robot, that is, a first member and a second member, via a direct-acting actuator having a direct-acting output shaft, so as to be opposite to each other on a predetermined rotary drive surface The first link portion is connected to the first link portion, and the output shaft of the linear actuator is connected to the first rotating member, and is disposed to be rotatable with respect to the first member via the first rotating shaft, and is disposed via the second rotating shaft. Rotating with respect to the second member side, the distance between the first rotating shaft and the second rotating shaft is set to a predetermined distance, and the predetermined distance is such that the first member and the second member can be driven And rotating on the predetermined rotation driving surface; and the second link portion is connected to the first support shaft provided on the first member side and the second support shaft provided on the second member side, a distance between the shaft between the support shaft and the second support shaft is constant; and the first support shaft and the second support shaft are disposed at the predetermined position with respect to the first rotation shaft and the second rotation shaft The first support shaft and the second support on the rotating drive surface Even up straight, with the said first rotary shaft and the second rotary shaft crossing straight lines connected together, The second link portion is disposed outside the first link portion in the width direction of the first link portion, and is formed to be disposed on an outer surface of the first member and an outer surface of the second member. The outer side panel.
  10. 如請求項9之機器人的旋轉驅動機構,其中前述第1連桿部更具有導引貫通孔,該導引貫通孔具有預定長度,藉此形成為讓前述第1支撐軸與前述第2支撐軸沿各自的軸長方向插入,使該第1支撐軸及該第2支撐軸可沿前述預定的旋轉驅動面作相對移動,當付與有來自前述直動式致動器之輸出時,該第1支撐軸及該第2支撐軸藉該導引貫通孔在該導引貫通孔之延伸範圍內作相對移動,以此決定前述第1構件與前述第2構件之相對的旋轉驅動範圍。 The rotary drive mechanism of the robot of claim 9, wherein the first link portion further has a guide through hole having a predetermined length, thereby forming the first support shaft and the second support shaft Inserting along the respective axial length directions, the first support shaft and the second support shaft are relatively movable along the predetermined rotational driving surface, and when the output from the direct acting actuator is applied, the first The support shaft and the second support shaft are relatively moved within the extension range of the guide through hole by the guide through hole, thereby determining a rotational driving range of the first member and the second member.
TW104135251A 2014-10-28 2015-10-27 A rotary drive mechanism of a robot TWI603825B (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2014219175 2014-10-28
JP2015208410A JP6105024B2 (en) 2014-10-28 2015-10-22 Rotation drive mechanism in robot

Publications (2)

Publication Number Publication Date
TW201622923A TW201622923A (en) 2016-07-01
TWI603825B true TWI603825B (en) 2017-11-01

Family

ID=55971630

Family Applications (1)

Application Number Title Priority Date Filing Date
TW104135251A TWI603825B (en) 2014-10-28 2015-10-27 A rotary drive mechanism of a robot

Country Status (5)

Country Link
US (1) US10576624B2 (en)
JP (1) JP6105024B2 (en)
CN (1) CN107073722B (en)
DE (1) DE112015004892B4 (en)
TW (1) TWI603825B (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6105024B2 (en) * 2014-10-28 2017-03-29 Thk株式会社 Rotation drive mechanism in robot
CN110919630B (en) * 2019-11-13 2021-03-12 北京机械设备研究所 Hydraulic oil cylinder installation manipulator and installation method
CN110919629B (en) * 2019-11-13 2021-04-27 北京机械设备研究所 Mounting manipulator and mounting method for hydraulic oil cylinder of special equipment

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2462607B2 (en) * 1978-09-20 1982-04-30 Ass Ouvriers Instr Precision
US5216930A (en) 1992-07-31 1993-06-08 Litton Industrial Automation Systems, Inc. Power work arm
GB9221127D0 (en) * 1992-10-07 1992-11-18 Atomic Energy Authority Uk A hydraulic manipulator
RU2257995C2 (en) * 2000-11-17 2005-08-10 Хонда Гикен Когё Кабусики Кайся Two-legs robot
JP3912251B2 (en) * 2002-10-02 2007-05-09 株式会社日立製作所 manipulator
JP4236900B2 (en) * 2002-10-22 2009-03-11 本田技研工業株式会社 Robot joint structure
US7909885B2 (en) 2005-07-22 2011-03-22 Jan Andrysek Swing-phase controller with an artificial joint
CN100588512C (en) 2006-02-01 2010-02-10 本田技研工业株式会社 Joint structure of automatic machine
JPWO2008136402A1 (en) * 2007-04-27 2010-07-29 Thk株式会社 Robot joint structure and robot finger
JP5041361B2 (en) * 2007-06-18 2012-10-03 株式会社日立製作所 Manipulator and manipulator device using the same
WO2011155957A1 (en) * 2010-06-10 2011-12-15 Carefusion 2200, Inc. Flexible wrist-type element
JP5835906B2 (en) * 2010-09-30 2015-12-24 オリンパス株式会社 Bending joint mechanism, surgical instrument having the bending joint mechanism, and manipulator having the bending joint mechanism
JP5722747B2 (en) * 2011-10-24 2015-05-27 Thk株式会社 Robot joint structure and robot incorporating this joint structure
JP5475747B2 (en) * 2011-12-07 2014-04-16 Thk株式会社 Parallel link robot
JP5373880B2 (en) 2011-12-07 2013-12-18 Thk株式会社 Legged robot
JP6087329B2 (en) * 2014-09-19 2017-03-01 Thk株式会社 Rotation drive mechanism in robot
JP6105024B2 (en) * 2014-10-28 2017-03-29 Thk株式会社 Rotation drive mechanism in robot
JP6104876B2 (en) * 2014-11-28 2017-03-29 Thk株式会社 Roll rotation structure in robot

Also Published As

Publication number Publication date
JP2016083768A (en) 2016-05-19
US20180290295A1 (en) 2018-10-11
CN107073722B (en) 2018-11-02
DE112015004892T5 (en) 2017-07-06
CN107073722A (en) 2017-08-18
JP6105024B2 (en) 2017-03-29
DE112015004892B4 (en) 2020-08-06
TW201622923A (en) 2016-07-01
US10576624B2 (en) 2020-03-03

Similar Documents

Publication Publication Date Title
TWI603825B (en) A rotary drive mechanism of a robot
JP5397856B2 (en) 6 DOF parallel mechanism
US6860169B2 (en) Manipulation unit
JP2008264904A (en) Parallel-link working device
KR100888078B1 (en) Joint structure of robot
US8322250B2 (en) Humanoid robot and shoulder joint assembly thereof
WO2013014720A1 (en) Parallel link robot
JP6582491B2 (en) robot
JP2018001385A (en) Parallel linkage device, industrial robot, and force indicating apparatus
TWI603824B (en) A rolling structure of a robot
JP2008264881A (en) Working device
JP6104867B2 (en) Robot upper body support structure
WO2016043302A1 (en) Rotation drive mechanism in robot
JP2005246565A (en) Leg part mechanism of robot device
JP2012240180A (en) Double-arm robot
JP2013094920A (en) Joint mechanism and work attachment
JP2009045739A (en) Parallel link type working device
US20170050312A1 (en) Parallel Kinematics Robot With Rotational Degrees Of Freedom
JP2006198703A (en) Arm driving device of human type robot
US20200269446A1 (en) Joint structure for robot
JP3082325B2 (en) 3-axis manipulator for robot hand
WO2016068098A1 (en) Rotary drive mechanism in robots
JP2016223482A (en) Link mechanism
JP2010264515A (en) Oscillating device
JP2017042829A (en) Parallel link robot